Original scientific paper

Fixed-time fuzzy adaptive output feedback control based on steel structure robotic arm

Y. J. Zhang ; School of Computer Science and Software Engineering, University of Science and Technology Liaoning
J. Y. Pan ; School of Computer Science and Software Engineering, University of Science and Technology Liaoning
S. S. Wang ; China 22MCC Group Co. LTD
L. B. Wu ; School of Computer Science and Software Engineering, University of Science and Technology Liaoning
D. X. Gao ; School of Computer Science and Software Engineering, University of Science and Technology Liaoning

Abstract

This paper proposes a fixed-time fuzzy adaptive output feedback control scheme for the robotic arm model (RAM) of steel structures. Firstly, the process of transforming RAM into a nonlinear system is elaborated. Secondly, a fuzzy observer is designed to approximate the nonlinear function and estimate the observed state of the system. Subsequently, a fixed-time adaptive controller is constructed, ensuring the system’s stability within a fixed time, with the convergence time unaffected by the initial state. Finally, the effectiveness of the strategy is verified through simulation examples.

Keywords

steel structure; robotic arm; fuzzy control; output feedback; fixed-time

Hrčak ID:

315684

URI

https://hrcak.srce.hr/315684

Publication date:

1.7.2024.

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